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Table 2 Mean of processing times of functional blocks on Rawseeds dataset

From: Large-scale monocular FastSLAM2.0 acceleration on an embedded heterogeneous architecture

Functional blocks (FBs)

Mean of processing time per one occurrence \(\phantom {\dot {i}\!}t_{\text {FB}_{\text {x}}}\) (ms)

MOTS

Mean of processing times \(\phantom {\dot {i}\!}t_{\text {FB}_{\text {x}}}^{\prime }\) (ms)

Speedup

 

One-core

Quad-core

CPU-GPU

 

One-core

Quad-core

CPU-GPU

 

Quad-CPU

GPU

Quad-CPU

GPU

 

FB2

6.38

4.83

4.83

-

1

6.38

4.83

4.83

1.32

FB1

272.03

150.19

3.42

15.1

4107.8

2267.9

51.66

43.9

FB3

11.78

5.72

2.28

14.1

166.09

80.71

32.17

2.50

FB4

7.12

5.04

1.37

14.1

100.50

71.09

19.45

3.65

FB5

5.45

2.95

0.96

10

55.45

29.58

9.65

3.06

FB6

4.7

1.88

0.51

5.2

24.87

9.8

2.7

3.6

Total

307.46

170.61

13.37

4461.09

2463.91

120.46

20.38